CN113852321B - 指令生成装置、指令生成方法 - Google Patents

指令生成装置、指令生成方法 Download PDF

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Publication number
CN113852321B
CN113852321B CN202110692602.8A CN202110692602A CN113852321B CN 113852321 B CN113852321 B CN 113852321B CN 202110692602 A CN202110692602 A CN 202110692602A CN 113852321 B CN113852321 B CN 113852321B
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CN
China
Prior art keywords
instruction
delay time
intermediate data
command
time
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Active
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CN202110692602.8A
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English (en)
Chinese (zh)
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CN113852321A (zh
Inventor
广濑健一
铃木泰宏
丹代笃郎
横井贤士郎
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Publication of CN113852321A publication Critical patent/CN113852321A/zh
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/32—Reducing overshoot or oscillation, e.g. damping
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/25—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
    • G05B19/251—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/253—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
    • G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Computer Hardware Design (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Position Or Direction (AREA)
CN202110692602.8A 2020-06-25 2021-06-22 指令生成装置、指令生成方法 Active CN113852321B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020109668A JP6960112B1 (ja) 2020-06-25 2020-06-25 指令生成装置、指令生成方法
JP2020-109668 2020-06-25

Publications (2)

Publication Number Publication Date
CN113852321A CN113852321A (zh) 2021-12-28
CN113852321B true CN113852321B (zh) 2023-12-29

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Country Status (4)

Country Link
US (1) US11914343B2 (de)
EP (1) EP3930179B1 (de)
JP (1) JP6960112B1 (de)
CN (1) CN113852321B (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022121582A1 (de) 2022-08-25 2024-03-07 isepos GmbH Vorrichtung und Verfahren zur Schrittmotor-Ansteuerung sowie 3D-Drucker

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101902193A (zh) * 2009-05-25 2010-12-01 株式会社安川电机 电动机控制装置及电动机控制系统
CN104871099A (zh) * 2012-12-25 2015-08-26 三菱电机株式会社 定位装置以及定位方法
CN109088570A (zh) * 2017-06-14 2018-12-25 发那科株式会社 电动机的控制装置
CN109384148A (zh) * 2017-08-02 2019-02-26 株式会社安川电机 振动抑制方法以及振动抑制装置
JP2019153085A (ja) * 2018-03-02 2019-09-12 ブラザー工業株式会社 振動抑制装置と振動抑制方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015177912A1 (ja) 2014-05-22 2015-11-26 三菱電機株式会社 指令生成装置および方法
US10583857B2 (en) * 2017-02-03 2020-03-10 Nsk Ltd. Electric power steering apparatus
WO2019138808A1 (ja) * 2018-01-09 2019-07-18 パナソニックＩｐマネジメント株式会社 電動機の制御装置
CA3060714A1 (en) * 2018-11-07 2020-05-07 Bombardier Inc. Method and system deploying a flight control surface

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101902193A (zh) * 2009-05-25 2010-12-01 株式会社安川电机 电动机控制装置及电动机控制系统
CN104871099A (zh) * 2012-12-25 2015-08-26 三菱电机株式会社 定位装置以及定位方法
CN109088570A (zh) * 2017-06-14 2018-12-25 发那科株式会社 电动机的控制装置
CN109384148A (zh) * 2017-08-02 2019-02-26 株式会社安川电机 振动抑制方法以及振动抑制装置
JP2019153085A (ja) * 2018-03-02 2019-09-12 ブラザー工業株式会社 振動抑制装置と振動抑制方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Advances in motion profiling;David Bowling;Advances in motion profiling;第2-54页 *

Also Published As

Publication number Publication date
EP3930179B1 (de) 2023-08-16
US20210405614A1 (en) 2021-12-30
CN113852321A (zh) 2021-12-28
JP6960112B1 (ja) 2021-11-05
JP2022007022A (ja) 2022-01-13
EP3930179A1 (de) 2021-12-29
US11914343B2 (en) 2024-02-27

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